U.S. patent number 6,128,574 [Application Number 08/896,735] was granted by the patent office on 2000-10-03 for route planning system for agricultural work vehicles.
This patent grant is currently assigned to Claas KGaA. Invention is credited to Norbert Diekhans.
United States Patent |
6,128,574 |
Diekhans |
October 3, 2000 |
Route planning system for agricultural work vehicles
Abstract
The route planning method for agricultural work vehicles having
a definite working width for generation of at least one work path
or track over a field includes inputting at least one
field-specific datum and at least one work vehicle-specific datum
into an electronic data processing unit; providing a computational
algorithm in the electronic data processing unit for generation of
the at least one work path or track, which includes at least one
optimization criterion for the at least one work path or track and
generating the at least one work path or track by executing the
computational algorithm to obtain the at least one work path or
track in the form of at least one digitized work route for one or
more work vehicles using the at least one field-specific datum
and/or the at least one work vehicle-specific datum. A guidance
apparatus for performing the method is also described.
Inventors: |
Diekhans; Norbert (Gutersloh,
DE) |
Assignee: |
Claas KGaA (Harsewinkel,
DE)
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Family
ID: |
7800552 |
Appl.
No.: |
08/896,735 |
Filed: |
July 21, 1997 |
Foreign Application Priority Data
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Jul 23, 1996 [DE] |
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196 29 618 |
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Current U.S.
Class: |
701/410; 701/50;
701/533 |
Current CPC
Class: |
A01B
79/005 (20130101); G05D 1/0278 (20130101); G05D
1/0274 (20130101); G05D 2201/0201 (20130101) |
Current International
Class: |
A01B
79/00 (20060101); G05D 1/02 (20060101); G06G
007/78 (); G06F 007/70 () |
Field of
Search: |
;701/50,202,207,208,209,213,200,210 ;340/990,995,988,689
;342/357,457,107 ;172/6,26 |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
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0 618 523 A1 |
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Oct 1994 |
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EP |
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4342171C2 |
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Jan 1996 |
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DE |
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WO 91/09275 |
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Jun 1991 |
|
WO |
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WO 95/16228 |
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Jun 1995 |
|
WO |
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WO 95/31759 |
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Nov 1995 |
|
WO |
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Other References
User's Guide vol. 1, Professional Cadam Machining Center, Dassault
Systems of America Corp, Third Edition, Dec. 1993, pp. 1 to 3 and
250 to 267..
|
Primary Examiner: Jacques; Jacques H. Louis
Attorney, Agent or Firm: Striker; Michael J.
Claims
I claim:
1. A route planning method for agricultural work vehicles having a
definite working width for generation of at least one work path or
track over a field, said route planning method comprising the steps
of:
a) inputting at least one field-specific datum and at least one
work vehicle-specific datum into an electronic data processing
unit;
b) providing a computational algorithm in said electronic data
processing unit for generation of the at least one work path or
track, said computational algorithm including at least one
optimization criterion for the at least one work path or track;
and
c) generating said at least one work path or track by executing
said computational algorithm to obtain said at least one work path
or track in the form of at least one digitized work route using
said at least one field-specific datum and said at least one work
vehicle-specific datum, wherein said at least one optimization
criterion comprises at least one of the following: determination of
a shortest work vehicle route over the field, determination of a
fastest work vehicle route over the field, determination of a most
fuel saving work vehicle route over the field and determining a
work vehicle route over the field which minimizes at least one of
lost time and vehicle travel distance for unloading/dispensing of
harvested material.
2. A route planning method for agricultural work vehicles having a
definite working width for generation of at least one work path or
track over a field, said route planning method comprising the steps
of:
a) inputting at least one field-specific datum and at least one
work vehicle-specific datum into an electronic data processing
unit;
b) providing a computational algorithm in said electronic data
processing unit for generation of the at least one work path or
track, said computational algorithm including at least one
optimization criterion for the at least one work path or track;
and
c) generating said at least one work path or track by executing
said computational algorithm to obtain said at least one work path
or track in the form of at least one digitized work route using
said at least one field-specific datum and said at least one work
vehicle-specific datum, wherein said at least one optimization
criterion comprises minimizing at least one of the lost time and
vehicle travel distance for loading materials to be dispensed from
an agricultural work vehicle on the field, wherein said work
vehicle dispenses at least one of seeds, fertilizers and plant
protecting or weed killing materials on the field.
3. The route planning method as defined in claim 1 or 2, wherein
said at least one field-specific datum comprises coordinates for
edges of said field.
4. The route planning method as defined in claim 2, further
comprising taking said coordinates of said field edges from a
cadastral or field map.
5. The route planning method as defined in claim 2, further
comprising determining said coordinates of said field edges and
storing said coordinates in said electronic data processing unit,
wherein said determining said coordinates occurs by at least one of
the following: optically scanning a cadastral or field map by means
of a scanner or by contacting said cadastral or field map with a
digital pen, traveling over the field edges with a work vehicle
provided with a position determining device which continuously
determines and stores said coordinates in a memory and sending an
individual carrying an operating mobile GPS receiver around the
field edges to continuously determine positions of the individual
along the field edges so that at least one of all corner points and
side lengths of said field are obtained.
6. The route planning method as defined in claim 3, further
comprising calculating a total surface area of said field with the
aid of said coordinates for the field edges.
7. The route planning method as defined in claim 6, wherein said
total surface area is calculated considering variations in ground
height over the field.
8. The route planning method as defined in claim 1 or 2, wherein
said at least one work vehicle-specific datum comprises said
working width for said at least one work path or track.
9. The route planning method as defined in claim 1 or 2, wherein
said position determining device consists of a satellite navigation
or GPS receiver.
10. The route planning method as defined in claim 1 or 2, wherein
said at least one field-specific datum includes at least one of the
following: digital land relief data including height information
for the field edges and information regarding slope or inclination
of ground in the field; information regarding position and size of
hindrances for an agricultural machine working the field including
trees, stones, brooks, pools and power line poles; information
regarding areas bounding the field to be worked including other
fields, paths and roads which can be used for turning maneuvers;
information regarding harvest yield per unit area of the field;
information regarding harvest yield cadastre of the field;
information regarding harvested crop on the field; information
regarding soil and soil properties of the field; soil property
cadastre of the field; information regarding earlier or past work
course plans for the field in chronological order; information
including work route of seed planting vehicles used to plant a crop
being harvested on the field and information regarding fixed
harvested goods-unloading positions.
11. The route planning method as defined in claim 1 or 2, wherein
said at least one work vehicle-specific datum includes at least one
of the following: geometric dimensions of at least one work
vehicle; information regarding reaction of the at least one work
vehicle to a predetermined impact or deflection of a steering axle
of the at least one work vehicle; information regarding drive
performance of the at least one work vehicle; information regarding
efficiency of at least one working device on the at least one work
vehicle; maximum speed of the at least one work vehicle;
information regarding optimum vehicle speed of the at least one
work vehicle for given soil conditions; information regarding
optimum vehicle speed of at least one work vehicle harvesting a
certain crop as determined by crop type; information regarding
optimum vehicle speed for certain crop yield densities; information
regarding consumption value of consumed materials including fuel,
seeds and liquids to be produced; information regarding fuel tank
capacity; information regarding grain tank capacity and grain tank
emptying speed in the case of a combine or of a carting vehicle
accompanying the combine; information regarding maximum usage time
limited by required maintenance time intervals and information
regarding travel track width, travel lane width, tire width, border
inclination angle and slope angle.
12. The route planning method as defined in claim 1 or 2, wherein
said at least one digitized work route consists of a plurality of
agricultural work vehicle travel tracks for a plurality of work
vehicles working the field.
13. The route planning method as defined in claim 1 or 2, further
comprising indicating a position or positions at which a grain
holding tank of a combine is estimated to be filled when an
agricultural machine is harvesting grain on the field and filling
the grain holding tank.
14. The route planning method as defined in claim 1 or 2, wherein
said at least one work path is determined for a harvesting vehicle
passing over the field to harvest a crop, and further comprising
determining a satisfactory parallel track for a refueling vehicle
which refuels a fuel tank of the harvesting machine.
15. The route planning method as defined in claim 1 or 2, wherein
said at least one optimization criterion comprises determining a
safest work vehicle route over the field.
16. The route planning method as defined in claim 1 or 2, wherein
said at least one work path or track generated covers only at least
one selected part of the field.
17. The route planning method as defined in claim 1 or 2, wherein
said at least one work path or track generated covers only a
section of the field parallel to a travel lane.
18. The route planning method as defined in claim 1 or 2, wherein
said at least one work path or track generated covers only a
section of the field having a section width equal to an integral
multiple of a working width of a work vehicle traveling over the at
least one work path or track.
19. The route planning method as defined in claim 1 or 2, further
comprising a coordinated plan for the travel of a plurality of
agricultural work vehicles over the field including generating one
of said at least one digitized work route using said at least one
optimization criterion, said coordinated plan including information
regarding planned work vehicle travel sequence, spacing of said
work vehicles in a travel direction and transverse to the travel
direction.
20. The route planning method as defined in claim 19, further
comprising preparing instructions for turning maneuvers.
21. The route planning method as defined in claim 1 or 2, further
comprising determining an area on said field still be worked at at
least one position on said digitized work route.
22. The route planning method as defined in claim 1 or 2, further
comprising providing a graphical display device in an agricultural
work device traveling over said at least one digitized work
route.
23. The route planning method as defined in claim 1 or 2, wherein
said at least one digitized work route is prepared in a yard
station computer containing said computational algorithm.
24. The route planning method as defined in claim 23, further
comprising transferring said at least one digitized work route from
said yard station computer to an on-board computer provided on an
agricultural work vehicle assigned to travel over said at least one
digitized work route by means of a portable data transfer
device.
25. The route planning method as defined in claim 24, wherein said
portable data transfer device is a diskette, chip card or PCMCIA
card.
26. The route planning method as defined in claim 23, further
comprising transferring said at least one digitized work route from
said yard station computer to an on-board computer provided on an
agricultural work vehicle assigned to travel over said at least one
digitized work route by means of a radio.
27. The route planning method as defined in claim 1 or 2, wherein
said electronic data processing unit comprises a on-board compound
on a work vehicle traveling over said at least one digitized work
route.
28. The route planning method as defined in claim 27, further
comprising transferring said at least one field-specific datum and
said at least one work vehicle-specific datum for preparation of
said at least one digitized work route by means of a portable data
carrier to said on-board computer.
29. The route planning method as defined in claim 27, further
comprising transferring said at least one field-specific datum and
said at least one work vehicle-specific datum for preparation of
said at least one digitized work route by means of a radio device
to said on-board computer.
30. The route planning method as defined in claim 27, further
comprising storing said at least one work vehicle-specific datum in
a memory of said on-board computer and retrieving said at least one
work vehicle specific datum from said memory for preparation of
said at least one digitized work route.
31. The route planning method as defined in claim 27, further
comprising inputting said at least one work vehicle specific datum
into said electronic data processing unit manually by a driver.
32. The route planning method as defined in claim 27, further
comprising transforming said at least one digitized work route into
coordinates of a real time position determining system installed on
a work vehicle traveling over the at least one digitized work
route.
33. The route planning method as defined in claim 32, wherein said
real time position determining system is a GPS system.
34. The route planning method as defined in claim 32, further
comprising deriving a work vehicle direction vector from all
coordinate points of said at least one digitized work route.
35. The route planning method as defined in claim 1 or 2, wherein
said at
least one digitized work route comprises a plurality of coordinates
for successive positions of a center of a work vehicle traveling
over said at least one digitized work route in a real time position
determining system.
36. The route planning method as defined in claim 1 or 2, wherein
said at least one digitized work route comprises a plurality of
coordinates for successive positions of a center of a
work-performing device on a work vehicle traveling over said at
least one digitized work route in a real time position determining
system.
37. The route planning method as defined in claim 36, wherein said
work-performing device is a cutting tool of a combine.
38. The route planning method as defined in claim 1 or 2, wherein
said at least one digitized work route comprises a plurality of
coordinates for successive positions of a left edge part of a
work-performing device on a work vehicle traveling over said at
least one digitized work route in a real time position determining
system.
39. The route planning method as defined in claim 38, wherein said
left edge part consists of a left blade part cutting edge of a
cutting mechanism of a combine.
40. The route planning method as defined in claim 1 or 2, wherein
said at least one digitized work route comprises a plurality of
coordinates for successive positions of a right edge part of a
work-performing device on a work vehicle traveling over said at
least one digitized work route in a real time position determining
system.
41. The route planning method as defined in claim 40, wherein said
right edge part consists of a right blade part cutting edge of a
cutting mechanism of a combine.
Description
BACKGROUND OF THE INVENTION
The present invention relates to a route planning system, more
particularly to a route planning method and apparatus, for
agricultural work vehicles, for example for a combine or
harvester-thresher, having a definite working width on a field.
Since the operating efficiency of agricultural work vehicles is to
be increased, the usage plan/organization of the work for a
high-performance work vehicle, such as a combine, and also other
agricultural work vehicles including a fertilizer spreader, sowing
work vehicle, field chopper, mower, tedder, swath-forming work
vehicle, and the like, is of ever increasing significance. Only a
limited number of harvesting hours are available during the grain
harvest due to weather conditions, which often are not used in an
optimum way because of a poor usage plane. Also a precise usage
plan is important for other agricultural work vehicles in order to
achieve the theoretical efficiency of the work vehicle also in
practice.
A method for fertilizing agriculturally useful surfaces using work
vehicles, which are equipped with a GPS satellite receiver for
position determination, is described in German Patent Application
43 42 171. The travel path to be covered is prepared and displayed
on a control monitor for the driver together with the momentary
position of the working work vehicle. Thus the driver can check at
an time, whether the field region worked up to now is error-free,
which means worked without omission of some parts, or whether
certain field regions have still not been worked. This system
provides the current knowledge of field working errors, whereby the
time required for an expensive search for errors and correction of
them is saved. However a usage plan for optimizing work vehicle
duty is not possible with this process.
SUMMARY OF THE INVENTION
It is an object of the present invention to provide a route
planning system or method for generation of a work travel course or
path of an agricultural work vehicle or vehicles on a field in
order to improve the operation or duty of the agricultural work
vehicle and, for example, to improve utilization of the limited
available harvest time or the theoretical efficiency of the work
vehicles by optimizing the travel plan as much as possible.
According to the invention, the method includes storing one or more
field-specific data, especially coordinates for the field
peripheral edges, and one or more work vehicle-specific data, such
as the working width, the mechanism width or the tire width,
weight, tank volume, boundary inclination angle and natural
inclination angle, in an electronic data processing unit
(CPU/Computer). The working travel course for the work vehicle is
generated in the form of a digitized treatment or processing route
in the electronic data processing device with the aid of a
computational algorithm, which has at least one optimization
criterion for the work or process route.
The process route is displayed for the driver by a monitor arranged
in the work vehicle. The optimized planned, digitized process or
treatment route forms the basis for a tracking system for the
agricultural work vehicle in combination with a real-time position
determining system arranged in the work vehicle, especially a GPS
satellite navigation system. For this purpose the digitized process
route is transformed into the coordinates of the real-time position
determining system installed in the work vehicle. The digitized
process route supplies the desired or set value for the track or
travel path.
Besides the above-described route planning system, where the
process route is generated with the aid of a computational
algorithm with an optimization criterion, the method according to
the invention includes manually editing the process route, for
example with a CAD system. The field peripheral edge is represented
on the monitor with the aid of a computer-supported drawing
program. Subsequently the travel path or course is generated
automatically considering the working width inside the boundaries
of the field, or edited by an operator. A digitized work route is
prepared with the help of the indicated travel path and a digitized
work route is transformed into the coordinates of the real-time
position determining system installed in the work vehicle.
An optimum duty and usage plan for an agricultural work vehicle is
attainable with the combination of the route planning and tracking.
Also the economic efficiency of the work vehicle being used is
increased by the planning and maintaining of optimum tracking,
since, e.g., almost the entire cutting mechanism width is utilized.
Furthermore operating materials, such as fuel, seed materials,
fertilizer or plant protecting materials are saved. Increased
emissions of plant protecting materials and fertilizer are avoided.
Also turning times may be saved with optimum route planning and
multiple passes over field sections may be avoided, which
simultaneously avoids and an undesirable packing of the ground by
multiple passes with heavy units.
In the following the field-specific data which are to be considered
are described. The coordinates of the field peripheral edge can be
input from a field map or cadastral chart, which can occur by
optical screening by means of a scanner or by manual scanning by
means of a digitizing pen. Further the field peripheral edge can be
detected by traveling over it with a work vehicle, which has a
position determining device, especially a satellite navigation
receiver (GPS receiver), in which the position of the work vehicle
is detected and is stored continuously during the travel around the
edge. Analogously it is also possible to detect the field
peripheral edge when a person is sent around the field edge with a
mobile GPS receiver, whereby the position is continuously detected
and stored
during his or her travel. The field peripheral edge can be
determined by giving all corners of the field in the case of a
many-cornered field. Furthermore in the case of rectangular or
triangular fields the field edge can be determined by giving the
side edge lengths.
The following features are also part of the field-specific
data:
digital land relief, i.e. height information for the field
peripheral or bounding edges,or information regarding the critical
slope or inclination of the ground in the field,
the position and size of the hindrances for an agricultural machine
traveling over the field, such as trees, stones, brooks, pools,
power line poles or masts or the like on the field,
information regarding areas bordering on the field to be worked
(other fields, paths, roads), which can be used for example for
turning maneuvers,
information regarding harvest yield per unit area of the field,
information regarding the harvest yield cadastre of the field,
information regarding the type of crop harvested,
information regarding the type of soil and soil properties,
a soil property cadastre of the field and
information regarding fixed harvested goods-unloading
positions.
Further it is provided that the field-specific data include earlier
or past work course plans in the chronological order by which the
field was worked. For example the field-specific data for the route
planning system of a harvesting machine includes the work path of
past working of the field by seed planting vehicles. The travel
paths for successive workings of the field can be planned for soil
conservation so that the tire tracks are side-by-side and so that
various zones or regions of the field are compacted during the
working process.
The parts of the work vehicle-specific data besides the working
width of the work vehicle include the following:
geometric dimensions of the work vehicle,
information regarding reaction of the work vehicle to a
predetermined impact or deflection of the steering axle(turning
circle),
information regarding drive performance of the work vehicle and/or
information regarding efficiency or performance of the working
devices on the work vehicle,
maximum speed of the work vehicle,
information regarding optimum vehicle speed for the work vehicle as
determined by the given soil conditions,
in the case of a harvesting machine: information regarding optimum
vehicle speed for certain crop types,
information regarding optimum vehicle speed for the work vehicle as
determined by certain crop yield densities,
information regarding cost of consumed materials, for example fuel,
seeds, liquids to be applied to the field,
information regarding fuel tank capacity,
information regarding grain tank capacity of a combine or of an
accompanying carting vehicle,
information regarding grain tank emptying speed,
information about maximum usage time, which is limited for example
by maintenance intervals, and
other information including travel track with, travel lane width
and tire width, border inclination angle and slope angle.
The route planning system is in a position to consider several work
vehicles with the same or different work vehicle-specific data.
The optimizing criteria for generating the process route includes
the following points:
determination of the shortest route,
determination of the fastest route,
determination of the route that saves the most fuel,
for a harvesting machine receiving harvested goods:
minimizing lost time and/or vehicle travel for unloading/dispensing
of harvested material,
determination of the safest route,
for a work vehicle dispensing seed materials, fertilizer materials,
plant protecting materials or weed killing materials: minimizing of
lost time and/or vehicle travel for the loading of the materials to
be dispensed, and
ground conservation and avoidance of ground compression.
These optimization criteria can also be combined with each
other.
The route planning system for a combine or harvester-thresher
advantageously indicates the position/positions, at which the grain
tank of the combine is estimated to be filled. Furthermore the
route planning system is determined for a satisfactory parallel
refueling vehicle course or path for refueling of a harvesting
machine with a parallel traveling refueling vehicle.
Instead of performing a uniform route plan for an entire field, the
route plan can be performed also only on one or more sections of
the field. Thus a field can be divided into certain portions and an
individual route plan can be performed for each portion. Moreover
regions around field hindrances or field edge regions can be
omitted, for example.
With the aid of the field peripheral edges a computation of the
entire area can be performed in the route planning system. This can
occur, e.g., by numerical integration. Advantageously the
computation of the area occurs considering field height relief or
variation, since especially the projected area varies considerably
from the actual area in the case of hilly land. Additionally the
area still to be worked can be calculated at each position on the
working route. A portion division can be performed parallel to
vehicle roads and/or whole number multiples of the entire working
width (e.g. cutting width of a combine). Furthermore the route
planning system can generate a coordination plan for many work
vehicles on a field, in which the travel sequence of the work
vehicles, which considers spacing or interval in the travel
direction and displacement transverse to the travel direction.
Advantageously the route planning system includes working paths for
turning maneuvers (e.g. 180.degree. to 90.degree. turning
maneuvers).
In one embodiment the working route is prepared in an electronic
data processing device of a yard station (yard computer). The route
prepared in the yard computer is transferred by means of a portable
data carrier (e.g. diskette, chip card, PCMCIA-card) to an
electronic data processing unit (vehicle computer) aboard the work
vehicle. A transmission of the data via radio computer is also
possible. In an additional embodiment the work route is prepared on
the electronic data processing unit (vehicle computer) aboard the
work vehicle. The field-specific and/or work vehicle-specific data
is transferred to the work vehicle computer by means of a portable
data carrier for preparation of the work route. Also here too radio
data transmission is possible.
Furthermore the work-specific data are stored in the vehicle
computer and are retrieved for preparation of the work path. Also
manual input of the work vehicle-specific and/or field-specific
data is possible. Work direction vectors are computer with the aid
of the working sequence of coordinates of the digitized work route
in real time positioning systems. Thus each coordinate point of the
digitized work route is associated with at least one work direction
vector. The coordinates (reference point) of the digitized work
route in a real time system can designate the center of the work
vehicle or the work device arranged on the work vehicle.
Furthermore the coordinates can designate the left or the right
boundary position of the working device arranged on the work
vehicle, e.g. left blade part cutting edge in the cutting mechanism
of a combine.
Agricultural work vehicles have a highly precise real time position
system for determining the position and direction vector of vehicle
motion for tracking on a field. The momentary position and motion
direction of the work vehicle is indicated as an actual value,
advantageously in vector representation, on a graphical display
device (monitor) arranged in the work vehicle. These values can
designate position on the working device arranged on the work
vehicle. Additionally the working path of a planned, digitized work
route (set value) over the field is provided on the monitor of the
work vehicle. Thus it is possible for the driver, by observing the
monitor to determine whether it is found, or not, on the planned
work route and, if necessary, perform the required steering
correction.
The set value and actual value are fed to an electronic analysis
unit of the work vehicle, where a steering signal is generated by
comparison of the set value with the actual value. The set position
and a set work direction vector are part of the set value. The
actual position and the motion direction of the vehicle are part of
the actual value.
The steering signal produced by the set value/actual value
comparison can be indicated to the driver optically and/or
acoustically, so that it can rapidly react when a variation
occurs.
In a further embodiment the steering signal is input to an
automatic steering control device in the work vehicle. During an
automatic steering maneuver the vehicle speed is automatically
reduced in an advantageous manner in order to obtain a certain
steering stability.
Information regarding the position and size of hindrances is input
into the work route for the tracking to consider the field
hindrances. The hindrance data from the work route can be used for
an automatic height regulation of the work devices arranged on the
work vehicle, so that the hindrance can be passed with a partially
lifted work device. Additionally the hindrance can be announced to
the driver on the monitor.
The exact determined position of the GPS-receiver antenna on the
work vehicle can transformed to the left or right border position
of the work tool or device arranged on the work vehicle, e.g. the
left blade part cutting edge in the cutting mechanism of a combine,
as a reference-actual value. Of course a transformation to another
point on the work device is also possible. For improvement of the
steering stability it is advantageous to transform the exactly
determined position of the GPS-receiver antenna on the work vehicle
as the reference-actual value to a virtual point leading the work
device in the travel direction.
A PDGPS-system (Precise Differential GPS) is advantageously used as
real time positioning system. Because of that in case of a GPS
failure the position determining system can also be a coupled
navigation system comprising a PDGPS-system and various auxiliary
sensors (wheel sensors, speed measuring sensors, steering angle
sensors, direction sensors, such as piezocrystals) arranged in the
work vehicle. In order to guarantee a high operational safety and
reliability o the tracking system, a harvested goods edge orienting
system passed on reflex positioning or locating (e.g. laser
scanners) can also be present. Also a harvested good row orienting
system based on touch or contact can be used.
BRIEF DESCRIPTION OF THE DRAWING
The objects, features and advantages of the invention will now be
illustrated in more detail with the aid of the following
description of the preferred embodiments, with reference to the
accompanying figures in which:
FIG. 1 is a block diagram of the automatic route planning system
according to the invention,
FIGS. 2A and 2B are examples of work paths for work vehicles over a
field,
FIG. 3 is an example of a field divided into field portions or
sections,
FIGS. 4A and 4B are diagrammatic illustrations of turning
maneuvers,
FIG. 5 is a diagram showing the synchronization of two work
vehicles,
FIG. 6 is a detailed diagrammatic view of a section of a work
route,
FIG. 7 is a side plan view of a work vehicle with a GPS-antenna and
reference point, and
FIG. 8 is a diagrammatic plan view of a monitor screen in a vehicle
cabin on which a work route is displayed.
DESCRIPTION OF THE PREFERRED EMBODIMENTS
A block diagram of the automatic route planning system is shown in
FIG. 1. The field-specific and the work vehicle-specific data are
input in method step 10 and method step 30 respectively shown in
FIG. 1 as boundary values in an electronic data processing unit
(Yard/Vehicle Computer/On-board computer), in which the
computational algorithm is implemented. After a coordinate
transformation described in more detail below, a route for the
agricultural machine, i.e. a work path or track, is generated in
step 20 by executing the algorithm together with an optimization
criteria (e.g. shortest distance traveled) input in method step 50.
The calculated route may be displayed with field boundaries in
method step 40 on a monitor screen for interactive editing by an
operator in step 40 shown in FIG. 1 (see also FIG. 8).
In FIG. 2A and 2B the planned work path are illustrated on a
field--once in relative coordinates (FIG. 2A) and once in absolute
coordinates of the GPS system (FIG. 2B). For the transformation of
the relative coordinates into the absolute coordinates performed in
step 20 in FIG. 1 the following equation (1) holds for length and
the following equation (2) for width holds:
wherein .beta.=width in degrees.
The plan for the vehicle work path or course in FIG. 2A, B was
carried out with the help of a CAD program for NC machines. The
field was simulated by a workpiece and the agricultural work
vehicle by a tool, e.g. a tilling or cutting head. The field
outline is in the form of a card, so that the corner points with
reference to a selected coordinate system could be input.
Subsequently the vehicle travel path or track was drawn considering
a selected working width of 6 m. The track is essentially the path
over which the center of the work vehicle travels. The produced
track was then defined as the path of the work vehicle, so that the
CAD program could calculate the coordinates for the NC machine. The
outer line shows the field edge or periphery, a portion of which
equal to three times the working width was traveled. The other
interior tracks are for example in the lower portion of the
field.
In FIG. 3 a field divided into portions or sections is shown, on
which three combines 60a, 60b, 60c are used for harvesting. The
coordinate plan for the combine may be generated with the automatic
route planning system in which the vehicle travel sequence of the
combine, the spacing in the travel direction and the displacement
transverse to the travel direction are considered.
FIG. 4A, 4B for example shows two turning maneuvers of the combine
60a (180.degree. and 90.degree. turning maneuvers). This type of
turning maneuver is integrated into the route planning system, for
example as a subroutine.
FIG. 5 shows the synchronization between the position and speed of
the combine 60a and the refueling vehicle 70 in order to allow a
parallel refueling. This synchronization may be predetermined by
the automatic route planning system.
FIG. 6 shows a detailed sectional view of the working route. The
coordinates of the work route are arranged as set value or desired
value positions S;X.sub.s,Y.sub.s) with a spacing for example in
this embodiment of 20 cm. Each set position is correlated with a
set working direction vector S. The momentary position
P;X.sub.p,Y.sub.p) of the reference point on the work vehicle and
the travel direction vector P is also shown. The precision
(.DELTA.P) of the position determination in the GPS system is
similarly shown. For generation of a steering signal in the
tracking system or guidance system the difference between the
momentary position of the work tool and the set value according to
the planed work route is minimized by the control circuit. The
variable ((X.sub.p -X.sub.s)+(Y.sub.p -Y.sub.s)).sup.2 used as
control criterion is minimized. An additional control criterion,
which is combined with the above-described criterion, is the
minimization of the angular variation or deviation a, of the set
work direction vector S and the actual travel
direction vector P. The angular deviation is for example described
by the scalar product of the vectors S and P: S*P=constant*cos a.
When the angular deviation is zero, the scalar product has its
maximum value.
FIG. 7 shows the side view of a combine 60a with a GPS receiver
antenna arranged on the work vehicle roof and a reference point on
the left cutter division point. The combine shown in FIG. 7 has a
field working device WD in the form of a cutting tool acting to
harvest the agricultural material on the field and a graphical
display device GD whose monitor screen MS is shown in FIG. 8 with a
field displayed on it. The GPS antenna indicated in FIG. 7 is
connected with a high precision real time position determining
device PDS which, in turn, is connected with the computer
processing the algorithm.
FIG. 8 shows the stationary or portable monitor arranged in the
vehicle cabin for displaying the work route and the momentary
position of the work vehicle on the field.
While the invention has been illustrated and described as embodied
in a route planning system for agricultural work vehicles, it is
not intended to be limited to the details shown, since various
modifications and changes may be made without departing in any way
from the spirit of the present invention.
Without further analysis, the foregoing will so fully reveal the
gist of the present invention that others can, by applying current
knowledge, readily adapt it for various applications without
omitting features that, from the standpoint of prior art, fairly
constitute essential characteristics of the generic or specific
aspects of this invention.
What is claimed is new and is set forth in the following appended
claims.
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